CN104889976A - Three rotating decoupling spherical surface parallel robot mechanism - Google Patents
Three rotating decoupling spherical surface parallel robot mechanism Download PDFInfo
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- CN104889976A CN104889976A CN201510282325.8A CN201510282325A CN104889976A CN 104889976 A CN104889976 A CN 104889976A CN 201510282325 A CN201510282325 A CN 201510282325A CN 104889976 A CN104889976 A CN 104889976A
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Abstract
The invention discloses a three rotating decoupling spherical surface parallel robot mechanism. The three rotating decoupling spherical surface parallel robot mechanism comprises a base, a movable platform and three branches connecting the base with the movable platform, wherein an arc-shaped connecting rod at one end of each branch is connected with the base through a same revolute pair, the other end of the arc-shaped connecting rod of the first branch is connected with one end of a first right-angle connecting rod through a second revolute pair, the other end of the first right-angle connecting rod is connected with one end of a second right-angle connecting rod through a third revolute pair, the other end of the second right-angle connecting rod is connected with the movable platform through the fourth revolute pair, and the axes of two adjacent revolute pairs in the first branch are perpendicular to each other; the structure of the second branch is the same as the structure of the third branch, the other ends of the arc-shaped connecting rods of the second branch and the third branch are connected with one end of the right-angle connecting rod through the second revolute pair, the other end of the right-angle connecting rod is connected with the movable platform through the third revolute pair, and the axes of two adjacent revolute pairs in the second branch and the third branch are perpendicular to each other. The three rotating decoupling spherical surface parallel robot mechanism is simple in structure, easy to control and capable of achieving the complete decoupling in three rotating directions.
Description
Technical field
The invention belongs to robot field, particularly a kind of parallel institution.
Background technology
Conventional parallel mechanism its to have the rigidity of structure good, bearing capacity is large, and the features such as accumulated error is little, make it be widely used in robot, virtual-shaft machine tool, micromanipulator field.But also strong coupling just existence makes parallel institution there is many difficulties in Configuration Design, analytical calculation and mechanism controls, limits the application of parallel institution to a certain extent.
Spherical surface rotating paralleling mechanism refers to and jointly drives moving platform by many side chains, can do the parallel institution that any axis rotates around the centre of sphere.Sphere parallel mechanism can the occasion such as extensive use joint of robot, radar antenna posture adjustment, Camera Positioning, the spherical surface rotating paralleling mechanism " Agile Eye (dexterous eye) " that foreign scholar proposes as Gosselin, domestic scholars also proposes some spherical surface rotating paralleling mechanisms, such as publication number is turn decoupling sphere parallel mechanism of two described in CN1803410A, and publication number is the three-degree-of-freedom spherical parallel mechanism described in CN103895009A, CN101306534A, CN101797435A etc.On the whole, spherical surface rotating paralleling mechanism pattern is in the majority with two rotations, and structure parallel institution that is simple, that control three rotation decoupling zeros is easily then still rare.
Summary of the invention
The object of the present invention is to provide the three full decoupled rotation decoupling sphere parallel robot mechanisms that a kind of structure is simple, be easy to control, can realize three rotation directions.
The present invention includes pedestal, moving platform and connect three branches of pedestal and moving platform, one end of the curved rod of one end of each branch is all connected with pedestal by the first revolute pair, wherein the other end of the curved rod of branch one is connected with one end of right angle connecting rod one by the second revolute pair, the other end of this right angle connecting rod one is connected with one end of right angle connecting rod two by the 3rd revolute pair, the other end of this right angle connecting rod two is connected with moving platform by the 4th revolute pair, and the axis of two revolute pairs adjacent in above-mentioned/mono-is mutually vertical; Branch two is identical with the structure of branch three, the other end of the curved rod of this Liang Ge branch is connected with one end of right angle connecting rod by the second revolute pair, the other end of this right angle connecting rod is connected with moving platform by the 3rd revolute pair, and above-mentioned branch two is mutually vertical respectively with the axis of two revolute pairs adjacent in branch three.
The curved rod of three branches is all connected with same first revolute pair, triangularity is arranged, the second revolute pair axis collinear in the second revolute pair in branch three and branch two, 3rd revolute pair of branch two and the 3rd revolute pair axis collinear of branch three, and the 4th revolute pair axes normal of this axis and branch one, the axis of three branches totally 8 revolute pairs all meets at a bit, and this point is moving platform center of rotation.
First of branch one rotates vice division chief and installs drive motors, and motor is connected on pedestal, and output is connected with three curved rod connection places, and its pivot center and the first revolute pair axis collinear; The 3rd of branch two rotates vice division chief and installs drive motors, and motor is connected on the second and the 3rd right angle connecting rod between revolute pair, and the 3rd revolute pair axis collinear of its pivot center and branch two; Second of branch three rotates vice division chief and installs drive motors, and motor is connected on the curved rod of branch three, and the second revolute pair axis collinear of its pivot center and branch three.
The present invention compared with prior art tool has the following advantages:
Structure is simple, light, and decoupling motion is all realized by revolute pair, namely overcomes traditional three one-rotation parallel mechanisms and controls the shortcoming complicated, strong coupling, analytical calculation is loaded down with trivial details, remain again parallel institution intensity high, the advantage of good stability.
Accompanying drawing explanation
Fig. 1 is structural representation sketch of the present invention.
Detailed description of the invention
Rotate in decoupling sphere parallel robot mechanism schematic diagram at three shown in Fig. 1, one end of the curved rod of one end of each branch is all by the first revolute pair R
1be connected with pedestal 8, the other end of the curved rod 1 of branch one is by the second revolute pair R
12be connected with one end of right angle connecting rod 1, the other end of this right angle connecting rod one is by the 3rd revolute pair R
13be connected with one end of right angle connecting rod 23, the other end of this right angle connecting rod two is by the 4th revolute pair R
14be connected with moving platform 9, the axis of two revolute pairs adjacent in above-mentioned/mono-is mutually vertical; The other end of the curved rod 4 of branch two is by the second revolute pair R
22be connected with one end of right angle connecting rod 5, the other end of this right angle connecting rod is by the 3rd revolute pair R
23be connected with moving platform 9, the axis of two revolute pairs adjacent in above-mentioned branch two is mutually vertical; The other end of the curved rod 6 of branch three is by the second revolute pair R
32be connected with one end of right angle connecting rod 7, the other end of this right angle connecting rod is by the 3rd revolute pair R
33be connected with moving platform 9, in above-mentioned branch three, the axis of two revolute pairs of adjacent connection is mutually vertical.
The curved rod of three branches all with same first revolute pair R
1connect, triangularity is arranged, the second revolute pair R in branch three
32with the second revolute pair R in branch two
22axis collinear, the 3rd revolute pair R of branch two
23with the 3rd revolute pair R of branch three
33axis collinear, and the 4th revolute pair R of this axis and branch one
14axes normal, the axis of three branches totally 8 revolute pairs all meets at moving platform center of rotation O.
First revolute pair R of branch one
1drive motors is installed at place, and motor is connected on pedestal, and output is connected with three curved rod connection places, and its pivot center and the first revolute pair axis collinear; 3rd revolute pair R of branch two
23drive motors is installed at place, and motor is connected on the second and the 3rd right angle connecting rod between revolute pair, and the 3rd revolute pair axis collinear of its pivot center and branch two; Second revolute pair R of branch three
32drive motors is installed at place, and motor is connected on the curved rod of branch three, and the second revolute pair axis collinear of its pivot center and branch three.By controlling and revolute pair R
1, R
23, R
32three drive motors of axis difference conllinear, just can realize moving platform around R
1, R
23, R
32the three-rotational-freedom of axis, and three-rotational-freedom is full decoupled.
Claims (2)
1. one kind three is rotated decoupling sphere parallel robot mechanism, it comprises pedestal, three branches of moving platform and connection pedestal and moving platform, it is characterized in that: one end of the curved rod of one end of each branch is all connected with pedestal by the first revolute pair, wherein the other end of the curved rod of branch one is connected with one end of right angle connecting rod one by the second revolute pair, the other end of this right angle connecting rod one is connected with one end of right angle connecting rod two by the 3rd revolute pair, the other end of this right angle connecting rod two is connected with moving platform by the 4th revolute pair, the axis of two revolute pairs adjacent in above-mentioned branch one is mutually vertical, branch two is identical with the structure of branch three, the other end of the curved rod of this Liang Ge branch is connected with one end of right angle connecting rod by the second revolute pair, the other end of this right angle connecting rod is connected with moving platform by the 3rd revolute pair, and above-mentioned branch two is mutually vertical respectively with the axis of two revolute pairs adjacent in branch three, the curved rod of three branches is all connected with same first revolute pair, triangularity is arranged, the second revolute pair axis collinear in the second revolute pair in branch three and branch two, 3rd revolute pair of branch two and the 3rd revolute pair axis collinear of branch three, and the 4th revolute pair axes normal of this axis and branch one, the axis of three branches totally 8 revolute pairs all meets at a bit, and this point is moving platform center of rotation.
2. according to claim 1 three rotate decoupling sphere parallel robot mechanism, it is characterized in that: rotate vice division chief in first of described branch one and drive motors is installed, motor is connected on pedestal, output is connected with three curved rod connection places, and its pivot center and the first revolute pair axis collinear; Rotate vice division chief in the 3rd of described branch two and install drive motors, motor is connected on the second and the 3rd right angle connecting rod between revolute pair, and the 3rd revolute pair axis collinear of its pivot center and branch two; Rotate vice division chief in second of described branch three and install drive motors, motor is connected on the curved rod of branch three, and the second revolute pair axis collinear of its pivot center and branch three.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510282325.8A CN104889976B (en) | 2015-05-28 | 2015-05-28 | A kind of three rotate decoupling sphere parallel robot mechanism |
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|---|---|---|---|
| CN201510282325.8A CN104889976B (en) | 2015-05-28 | 2015-05-28 | A kind of three rotate decoupling sphere parallel robot mechanism |
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| CN104889976A true CN104889976A (en) | 2015-09-09 |
| CN104889976B CN104889976B (en) | 2016-08-17 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751202A (en) * | 2016-03-04 | 2016-07-13 | 北京交通大学 | Reorganizable parallel mechanism with five-rod movement branches |
| US20170245949A1 (en) * | 2014-10-15 | 2017-08-31 | Cambridge Medical Robotics Limited | Articulation for surgical roboter |
| CN107116539A (en) * | 2017-06-30 | 2017-09-01 | 燕山大学 | The three of a kind of rotating shaft junction rotate two and move broad sense decoupling parallel robot mechanism |
| CN107116538A (en) * | 2017-06-30 | 2017-09-01 | 燕山大学 | One kind three rotates one and moves broad sense decoupling parallel robot mechanism |
| CN107139166A (en) * | 2017-06-30 | 2017-09-08 | 燕山大学 | Broad sense decoupling parallel mechanism with three turn of one shifting property |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| CN107336216A (en) * | 2017-06-30 | 2017-11-10 | 燕山大学 | One kind three rotates broad sense decoupling parallel robot mechanism |
| CN107344359A (en) * | 2017-06-30 | 2017-11-14 | 燕山大学 | A kind of three rotate the broad sense decoupling parallel mechanism of two mobile shaft not junctions |
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN107932480A (en) * | 2017-11-29 | 2018-04-20 | 中国科学院沈阳自动化研究所 | The two-degree-of-freedom centering parallel institution driven by coaxial rotating |
| CN108189014A (en) * | 2018-03-30 | 2018-06-22 | 四川大学 | A kind of 3-dof parallel robot suitable for spherical surface processing |
| CN108858156A (en) * | 2018-08-31 | 2018-11-23 | 常州大学 | A kind of sphere parallel mechanism of zero degree of coupling and mobile decoupling |
| WO2018223363A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Three-degrees-of-freedom decoupled spherical parallel mechanism |
| CN114523466A (en) * | 2022-04-22 | 2022-05-24 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled 3-rotation 2-movement parallel mechanism |
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| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| WO2004106011A1 (en) * | 2003-05-30 | 2004-12-09 | Matteo Zoppi | Armilleye: a three degree- of-freedom spherical parallel mechanism |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170245949A1 (en) * | 2014-10-15 | 2017-08-31 | Cambridge Medical Robotics Limited | Articulation for surgical roboter |
| US11267141B2 (en) * | 2014-10-15 | 2022-03-08 | Cmr Surgical Limited | Articulation for surgical robot |
| CN105751202B (en) * | 2016-03-04 | 2018-01-16 | 北京交通大学 | A kind of restructural parallel institution containing five bar movement branched chains |
| CN105751202A (en) * | 2016-03-04 | 2016-07-13 | 北京交通大学 | Reorganizable parallel mechanism with five-rod movement branches |
| US11331791B2 (en) | 2017-06-09 | 2022-05-17 | Shenzhen Institute Of Advanced Technology | 3 degree-of-freedoms decoupling spherical parallel mechanism |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| WO2018223363A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Three-degrees-of-freedom decoupled spherical parallel mechanism |
| CN107116538B (en) * | 2017-06-30 | 2020-02-04 | 燕山大学 | Three-rotation one-movement generalized decoupling parallel robot mechanism |
| CN107116538A (en) * | 2017-06-30 | 2017-09-01 | 燕山大学 | One kind three rotates one and moves broad sense decoupling parallel robot mechanism |
| CN107344359A (en) * | 2017-06-30 | 2017-11-14 | 燕山大学 | A kind of three rotate the broad sense decoupling parallel mechanism of two mobile shaft not junctions |
| CN107116539A (en) * | 2017-06-30 | 2017-09-01 | 燕山大学 | The three of a kind of rotating shaft junction rotate two and move broad sense decoupling parallel robot mechanism |
| CN107336216B (en) * | 2017-06-30 | 2020-03-31 | 燕山大学 | Three-rotation generalized decoupling parallel robot mechanism |
| CN107139166A (en) * | 2017-06-30 | 2017-09-08 | 燕山大学 | Broad sense decoupling parallel mechanism with three turn of one shifting property |
| CN107336216A (en) * | 2017-06-30 | 2017-11-10 | 燕山大学 | One kind three rotates broad sense decoupling parallel robot mechanism |
| CN107344359B (en) * | 2017-06-30 | 2020-01-07 | 燕山大学 | Generalized decoupling parallel mechanism with three rotating shafts and two moving shafts not meeting |
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN107932480A (en) * | 2017-11-29 | 2018-04-20 | 中国科学院沈阳自动化研究所 | The two-degree-of-freedom centering parallel institution driven by coaxial rotating |
| CN108189014A (en) * | 2018-03-30 | 2018-06-22 | 四川大学 | A kind of 3-dof parallel robot suitable for spherical surface processing |
| CN108189014B (en) * | 2018-03-30 | 2024-05-17 | 四川大学 | Three-degree-of-freedom parallel robot suitable for spherical surface machining |
| CN108858156A (en) * | 2018-08-31 | 2018-11-23 | 常州大学 | A kind of sphere parallel mechanism of zero degree of coupling and mobile decoupling |
| CN114523466A (en) * | 2022-04-22 | 2022-05-24 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled 3-rotation 2-movement parallel mechanism |
| CN114523466B (en) * | 2022-04-22 | 2022-07-29 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled 3-rotation 2-movement parallel mechanism |
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